基于树莓派和OpenCV视觉技术的自动捡网球机器人  

Automatic Tennis Collecting Robot Based on Raspberry Pie and OpenCV Vision Technology

作　　者：邓世春[1] 潘佳松 邓君[1] 郭鸿桢 李锐圳 Deng Shichun;Pan Jiasong;Deng Jun;Guo Hongzhen;Li Ruizhen(Dongguan University of Technology,Dongguan,Guangdong 523000,China)

机构地区：[1]东莞理工学院机械工程学院,广东东莞523000

出　　处：《机电工程技术》2024年第7期60-63,共4页Mechanical & Electrical Engineering Technology

摘　　要：网球场地的网球收集依靠人力处理,耗时长、效率不高。针对此问题,设计了一种基于OpenCV视觉技术的自动捡网球机器人。该机器人配置树莓派4B主控板、STM32C8T6单片机、树莓派USB摄像头、L298N电机驱动板、37GB3530直流电机及超声波传感器。利用OpenCV视觉识别技术和树莓派Linux系统相结合以及场景内的网球识别和挤压滚筒式的拾捡机械结构功能特点,对网球进行拾取和储存,以满足对球场内的网球进行捡拾和搬运的需求。经过对相关机械结构设计和软件实现结果进行检验,所设计的自动捡网球机器人能有效识别地面的网球,并对网球场中的网球进行收集与储存,执行效果良好。该智能自动捡网球机器人可应用于网球场地,以提高拾捡效率、节约时间、节省人力资源。tennis courts still rely on human to collect tennis balls,which is time-consuming and inefficient.To address this issue,an automatic tennis ball collecting robot based on OpenCV visual technology is designed.The robot is equipped with a Raspberry Pi 4B main control board,STM32C8T6 single-chip microcomputer,Raspberry Pi USB camera,L298N motor driver board,37GB3530 DC motor,and ultrasonic sensor.By combining OpenCV visual recognition technology with the Raspberry Pi Linux system and the functional characteristics of the scene′s tennis ball recognition and squeezing drum-type picking and storage mechanism,the robot can pick up and store tennis balls to meet the needs of picking and transporting tennis balls on the court.The mechanical structure design and software implementation results are tested,it is concluded that the proposed automatic tennis ball collecting robot can effectively recognize tennis balls on the ground,collect and store tennis balls in the tennis court,and has good performance.The intelligent automatic tennis ball collecting robot can be applied to tennis courts,the efficiency of ball collection is improved,and time and human resources can be saved.

关 键 词：STM32 树莓派 OPENCV 网球拾取结构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]